CN107351093A - A kind of reactor pressure vessel bolt hole cleaning detection robot - Google Patents
A kind of reactor pressure vessel bolt hole cleaning detection robot Download PDFInfo
- Publication number
- CN107351093A CN107351093A CN201710559023.XA CN201710559023A CN107351093A CN 107351093 A CN107351093 A CN 107351093A CN 201710559023 A CN201710559023 A CN 201710559023A CN 107351093 A CN107351093 A CN 107351093A
- Authority
- CN
- China
- Prior art keywords
- module
- bolt hole
- pressure vessel
- positioning
- reactor pressure
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 38
- 238000001514 detection method Methods 0.000 title claims abstract description 21
- 238000010926 purge Methods 0.000 claims abstract description 15
- 238000005498 polishing Methods 0.000 claims abstract description 14
- 230000005855 radiation Effects 0.000 claims abstract description 5
- 239000003921 oil Substances 0.000 claims description 29
- 230000007246 mechanism Effects 0.000 claims description 28
- 230000003028 elevating effect Effects 0.000 claims description 19
- 230000033001 locomotion Effects 0.000 claims description 15
- 239000000463 material Substances 0.000 claims description 15
- 238000005213 imbibition Methods 0.000 claims description 8
- 238000007689 inspection Methods 0.000 claims description 7
- 239000007921 spray Substances 0.000 claims description 7
- 238000005260 corrosion Methods 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 5
- 230000003137 locomotive effect Effects 0.000 claims description 4
- 239000004677 Nylon Substances 0.000 claims description 3
- 238000005266 casting Methods 0.000 claims description 3
- 239000012459 cleaning agent Substances 0.000 claims description 3
- 230000007797 corrosion Effects 0.000 claims description 3
- 230000001419 dependent effect Effects 0.000 claims description 3
- 239000013536 elastomeric material Substances 0.000 claims description 3
- 239000007789 gas Substances 0.000 claims description 3
- 230000006698 induction Effects 0.000 claims description 3
- 229910001095 light aluminium alloy Inorganic materials 0.000 claims description 3
- 239000007769 metal material Substances 0.000 claims description 3
- 229920001778 nylon Polymers 0.000 claims description 3
- 229910001220 stainless steel Inorganic materials 0.000 claims description 3
- 239000010935 stainless steel Substances 0.000 claims description 3
- 238000005406 washing Methods 0.000 claims description 3
- 238000003466 welding Methods 0.000 claims description 3
- 238000009826 distribution Methods 0.000 claims description 2
- 239000002699 waste material Substances 0.000 claims 1
- 239000000428 dust Substances 0.000 abstract description 2
- 230000007774 longterm Effects 0.000 abstract 1
- 238000012423 maintenance Methods 0.000 abstract 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 description 2
- 238000010009 beating Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
- B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Cleaning In General (AREA)
- Cleaning By Liquid Or Steam (AREA)
Abstract
The invention discloses a kind of reactor pressure vessel bolt hole to clean detection robot, including：Deliver car body and alignment system (1), purging system (2), positioning pipetting systems (3), polishing system (4), video checking system (5) and oil feeding system (6).Cleaning, dust suction/water, polishing, screw video check and screw automatically are carried out present invention is mainly used for the thread surface of reactor pressure vessel bolt hole and smears anti-bite dose automatically, to ensure that the long-term safety that reactor pressure vessel uses is reliable.The present invention is encroached on when can effectively avoid maintenance personal from cleaning by larger dose of radiation, while is also leakage to wash to reduce to be likely to occur during artificial cleaning, clean incomplete effective way.
Description
Technical field
The invention belongs to nuclear reactor pressure container testing equipment field, more particularly, it relates to a kind of anti-
Answer core pressure vessel bolt hole cleaning detection robot.
Background technology
Closed container of the reactor pressure vessel as storage nuclear reaction raw material, its sealing rely primarily on top cover and container
The problems such as stuck, stripped thread can not occur in threaded connection between main body, threaded connection, otherwise considerable safety may be caused to produce
Accident, it can be seen that the importance of reactor vessel bolt hole situation inspection.
During reactor refuling overhaul, it is necessary to carry out cleaning inspection to bolt hole situation.Reactor lid and container
Connected between main body by kingbolt, these kingbolt holes thread surfaces need to clean very much, without any burr and different
Thing, can confirm whether it meets installation standard.
The cleaning inspection to pressure vessel bolt hole is mainly completed by manually at present, this method time length, work
Intensity is big, and closely operation is big to the dose of radiation of staff, it is necessary to a kind of equipment that can be automatically performed cleaning and check.
The content of the invention
The problem of for the above, the present invention provide a kind of bolt hole in the positioning of Surface Pressure Vessel automatic running and clean inspection
Look into robot, by the way of automatically and manually combining, realize the hydrojet to bolt hole, cleaning, polishing, video check and on
The functions such as oil.
For problem above, the technical solution adopted by the present invention is：A kind of reactor pressure vessel bolt hole cleaning detection
Robot, including：Deliver car body and alignment system, purging system, positioning pipetting systems, polishing system, video checking system with
And oil feeding system；Delivery car body and alignment system include：Vehicle body frame, drive module, hull bottom plate, positioning tube, support wheel, lead
To wheel and sensor assembly；A driving wheel is respectively distributed before and after delivery car body, remaining support wheel is supporting roller, using step
Design, driving wheel are made up of aircraft aluminum material, outpacking rubber material, prevent dolly from skidding, the support contacted with flange face
Wheel uses high-strength nylon material, reduces the resistance of motion of car body；Vehicle body frame uses stainless steel rectangular steel-pipe welding into closing
Cavity, it is described delivery hull bottom plate washing station, imbibition station, polish station, the position for the station that oils adds positioning and guiding
Cylinder, lifting module is reduced because deformation caused by cantilever design has an impact to related operation.
The purging system includes：Cleaning brush module and purging system elevating mechanism；Brush is by cleaning axle, gear drive
It is connected with motor, brush high-speed rotation is driven by high-speed electric expreess locomotive, oscilaltion campaign is realized by straight line module, reaches clear
Except the purpose of bolt hole surface attachments.
The positioning pipetting systems include：Suction pipe, pipette guide cylinder, pipette connecting bracket and pipetting systems lifting
Mechanism；The straight line module of pipette connecting bracket and elevating mechanism is connected, and pipette is held by L-type support, is moved up and down；When
L types support down when can drive pipette guide cylinder, make Location vehicle and by pipette deliver to screw thread bottom carry out imbibition
Work, when up moving, L-type support simultaneously can lift suction pipe and guide cylinder.
The polishing system with the elevating mechanism of video checking system as purging system, be all using straight line module come
Elevating movement is carried out, the rotary motion of lower section functional module is driven by high-speed electric expreess locomotive, its difference is only lower section function mould
The difference of block, the functional module of polishing system is polish brush module, and the module of video checking system is independent video check machine
Structure.
The oil feeding system includes：The elevating mechanism for the module that oils, the spray body for the module that oils and the module that oils
It is homogenized mechanism；Elevating movement mechanism uses the unified straight line module kind of drive；The spray body of oil feeding system is by an appearance
Device, an oil inlet of ining succession, container bottom have 4 to be uniformly distributed fuel-displaced aperture, when oil inlet works, are covered, covered by closure
There is air inlet on sub- top, is filled with gases at high pressure to the inside, anti-bite dose sprays from small hole at bottom part, is sprayed onto thread surface；Oil feeding system
Homogenizing mechanism be a slim brush, it is homogenizing to anti-bite dose of smearing.
Described pressure vessel bolt hole, which cleans, detects robot, relative to flange face radial direction in the delivery body movement
Positioning is realized dependent on directive wheel, adds Video-assisted to determine using two groups of magnetic induction sensors in the positioning of flange face circumferencial direction
The combination of position two ways, to ensure positioning accurately and reliably.
Described pressure vessel bolt hole cleaning detection robot, two-wheel combination driving before and after cleaning machine carrier loader uses,
Positioned using multi sensor combination positioning method, Location vehicle precision is less than 5mm, is protected after being accurately positioned by positioning cone cylinder
The position error of card car body is less than 1mm.
Described pressure vessel bolt hole cleaning detection robot, delivery vehicle bottom are provided with directive wheel, and directive wheel is main
It is oriented to by the groove on the outside of flange face, guide groove carries out spacing in radial direction to car body.
Described pressure vessel bolt hole cleaning detection robot, one layer of wear-resisting, radiation hardness of driving wheel outer surface casting
And the elastomeric material of resistance to cleaning agent corrosion.
Described pressure vessel bolt hole cleaning detection robot, the five sets of mechanisms cleaned in detection robot are above and below it
Limit of sports record position is provided with the safeguard measures such as electric limiting, mechanical position limitation, software limit.
Described pressure vessel bolt hole cleaning detection robot, its dust suction, imbibition interface use Seal Design, prevent from giving up
Thing splashes during operation.
Described pressure vessel bolt hole cleaning detection robot, robot body's material selection lightweight metal material, table
Face carries out anti-corrosion treatment, all to use nonmetallic materials with flange contact part, in order to avoid damage vessel flange face.
The present invention compared with prior art the advantages of be：
(1) this equipment is to integrate precision mechanical transmission, automatically controlled, TV, the high-tech of computer technology to automatically control
Equipment, there is full-automatic, semi-automatic and manual three kinds of mode of operations, disclosure satisfy that the various requirement using scene.Using light,
Mechanical, electrical integrated technique, reactor bolt hole thread surface is cleaned, polished, video camera, display, and pass through image
Video image is converted into digital information in real time and stored by compression.The equipment can be in the automatic row in pressure container flange face
Walk, be automatically positioned centering, inspection efficiency can be effectively improved, reduce the raying dosage of staff.
(2) two-wheel combination driving, is determined using multi sensor combination positioning method before and after cleaning machine delivery car body uses
Position, Location vehicle precision are less than 5mm, should ensure that the position error of car body is less than 1mm after being accurately positioned by positioning cone cylinder.
Brief description of the drawings
Fig. 1 is structural scheme of mechanism of the present invention.
Fig. 2 is delivery car body and alignment system.
Fig. 3 is purging system.
Fig. 4 is positioning pipetting systems.
Reference implication is in figure：1 is delivery car body and alignment system, and 2 be purging system, and 3 be positioning pipetting systems,
4 be polishing system, and 5 be video checking system, and 6 be oil feeding system, and 101 be vehicle body frame, and 102 be drive module, and 103 be car
Body bottom plate, 104 be positioning tube, and 105 be support wheel, and 106 be directive wheel, and 107 be sensor assembly, and 201 be cleaning brush module,
202 be purging system elevating mechanism, and 301 be suction pipe, and 302 be pipette guide cylinder, and 303 be pipette connecting bracket, and 304 are
Pipetting systems elevating mechanism.
Embodiment
The present invention is elaborated with reference to the accompanying drawings and detailed description.
Pressure vessel bolt hole cleaning detection robot as shown in Figure 1, including：Deliver car body and alignment system 1, cleaning
System 2, positioning pipetting systems 3, polishing system 4, video checking system 5 and oil feeding system 6；Delivery car body as shown in Figure 2
And alignment system 1 includes：Hull bottom plate 103, positioning tube 104, drive module 102, directive wheel 106, support wheel 105, sensor
Module 107 and vehicle body frame 101；Respectively one support wheel 105 of distribution is used as driving wheel, remaining support wheel before and after delivery car body
105 be supporting roller, and using step design scheme, driving wheel is made up of aircraft aluminum material, outpacking rubber material, prevents dolly from beating
Sliding, the support wheel contacted with flange face uses high-strength nylon material, reduces the resistance of motion of car body；Vehicle body frame 101 uses
Stainless steel rectangular steel-pipe welding into closed cavity, the hull bottom plate 103 in washing station, imbibition station, polishing station, oil
The position of station adds positioning and guiding cylinder, reduces lifting module because deformation caused by cantilever design produces shadow to related operation
Ring.
The cleaning brush module 201 of purging system 2 as shown in Figure 3 is by cleaning axle, gear drive is connected with motor, passes through height
Speed motor drives brush high-speed rotation, realizes oscilaltion campaign by purging system elevating mechanism 202, reaches removing bolt
The purpose of hole surface attachment.
Pipette connecting bracket 303 and pipetting systems elevating mechanism 304 is straight in positioning pipetting systems 3 as shown in Figure 4
Line module is connected, and pipette guide cylinder 302 is held by L-type support, is moved up and down；Simultaneously L-type support down when can be with
Positioning tube is driven, makes Location vehicle and suction pipe 301 is delivered into the progress imbibition work of screw thread bottom, when up moving, L-type support can
Pipette guide cylinder 302 and positioning tube to be lifted simultaneously.
The polishing system 4 is all using servo electricity as purging system 2 with the elevating mechanism of video checking system 5
Machine drives the motion of operational module by ball leading screw driving, and its difference is only the difference of lower section functional module, polishing system 4
Functional module be polish brush module, the module of video checking system 5 is independent video check mechanism.
Elevating movement mechanism uses the unified straight line module kind of drive in the oil feeding system 6；The spraying of oil feeding system 6
Mechanism is an oil inlet of ining succession by a container, and container bottom has 4 to be uniformly distributed fuel-displaced aperture, when oil inlet works, by
Closure covers, and there is air inlet on lid top, is filled with gases at high pressure to the inside, anti-bite dose sprays from small hole at bottom part, is sprayed onto screw thread
Surface；The homogenizing mechanism of oil feeding system is a slim brush, homogenizing to anti-bite dose of smearing.
Described hull bottom plate 103 is provided with directive wheel 106, and directive wheel 106 is oriented to mainly by the groove on the outside of flange face, led
It is spacing to car body progress in radial direction to groove.Deliver real dependent on directive wheel relative to the positioning of flange face radial direction in body movement
It is existing, the combination for regarding auxiliary positioning two ways is powered up using two groups of magnetic induction sensors in the positioning of flange face circumferencial direction,
To ensure positioning accurately and reliably.
Described robot body's material selection lightweight metal material, surface carries out anti-corrosion treatment, all to be connect with flange
Contact portion point uses nonmetallic materials, in order to avoid damage vessel flange face.It is wear-resisting, resistance to deliver sub- one layer of the outer surface casting of car body driving wheel
Radiation and the elastomeric material of resistance to cleaning agent corrosion.
Claims (8)
- A kind of 1. reactor pressure vessel bolt hole cleaning detection robot, it is characterised in that：Including delivery car body and positioning system System (1), purging system (2), positioning pipetting systems (3), polishing system (4), video checking system (5) and oil feeding system (6)； Delivery car body and alignment system (1) include：Vehicle body frame (101), drive module (102), hull bottom plate (103), positioning tube (104), support wheel (105), directive wheel (106) and sensor assembly (107)；Each distribution one drives before and after delivering car body Wheel, remaining support wheel is supporting roller, and using step design scheme, driving wheel is made up of aircraft aluminum material, outpacking rubber material, Prevent dolly from skidding, the support wheel contacted with flange face uses high-strength nylon material, reduces the resistance of motion of car body；Car body frame Frame is using stainless steel rectangular steel-pipe welding into closed cavity, and the delivery hull bottom plate is in washing station, imbibition station, buffer Position, the position for the station that oils add positioning and guiding cylinder, reduce lifting module because deformation caused by cantilever design is to related operation Have an impact；The purging system (2) includes：Cleaning brush module (201) and purging system elevating mechanism (202)；Brush passes through cleaning Axle, gear drive are connected with motor, drive brush high-speed rotation by high-speed electric expreess locomotive, oscilaltion is realized by straight line module Motion, reach the purpose for removing bolt hole surface attachments；The positioning pipetting systems (3) include：Suction pipe (301), pipette guide cylinder (302), pipette connecting bracket (303) with And pipetting systems elevating mechanism (304)；The straight line module of pipette connecting bracket and elevating mechanism connects, and is dragged by L-type support Firmly pipette moves up and down；When L-type support down when can drive pipette guide cylinder, make Location vehicle and by pipette Deliver to screw thread bottom and carry out imbibition work, when up moving, L-type support simultaneously can lift suction pipe and guide cylinder；The polishing system (4) is all to use straight line module as purging system with the elevating mechanism of video checking system (5) To carry out elevating movement, the rotary motion of lower section functional module is driven by high-speed electric expreess locomotive, its difference is only lower section function The difference of module, the functional module of polishing system (4) is polish brush module, and the module of video checking system (5) regards to be independent Frequency inspection body；The oil feeding system (6) includes：The elevating mechanism for the module that oils, the spray body for the module that oils and the module that oils it is equal Change mechanism；Elevating movement mechanism uses the unified straight line module kind of drive；The spray body of oil feeding system be by a container, In succession an oil inlet, container bottom there are 4 to be uniformly distributed fuel-displaced aperture, when oil inlet works, is covered by closure, lid top There is air inlet at end, is filled with gases at high pressure to the inside, anti-bite dose sprays from small hole at bottom part, is sprayed onto thread surface；Oil feeding system it is equal It is a slim brush to change mechanism, homogenizing to anti-bite dose of smearing.
- 2. reactor pressure vessel bolt hole cleaning detection robot according to claim 1, it is characterised in that：The delivery Realized in body movement relative to the positioning of flange face radial direction dependent on directive wheel, two are used in the positioning of flange face circumferencial direction The power-up of group magnetic induction sensor is positioned accurately and reliably regarding the combination of auxiliary positioning two ways with guarantee.
- 3. reactor pressure vessel bolt hole cleaning detection robot according to claim 1, it is characterised in that：Cleaning machine Two-wheel combination driving, is positioned, Location vehicle precision is less than using multi sensor combination positioning method before and after carrier loader uses 5mm, ensure that the position error of car body is less than 1mm after being accurately positioned by positioning cone cylinder.
- 4. reactor pressure vessel bolt hole cleaning detection robot according to claim 1, it is characterised in that：Carrier loader Body bottom is provided with directive wheel, and directive wheel is oriented to mainly by the groove on the outside of flange face, and guide groove carries out spacing in radial direction to car body.
- 5. reactor pressure vessel bolt hole cleaning detection robot according to claim 1, it is characterised in that：Driving wheel Sub- outer surface one layer of wear-resisting, radiation hardness of casting and the elastomeric material of resistance to cleaning agent corrosion.
- 6. reactor pressure vessel bolt hole cleaning detection robot according to claim 1, it is characterised in that：Cleaning inspection The five sets of mechanisms surveyed in robot are provided with the guarantor such as electric limiting, mechanical position limitation, software limit in its upper and lower limit of sports record position Shield measure.
- 7. reactor pressure vessel bolt hole cleaning detection robot according to claim 1, it is characterised in that：It is inhaled Dirt, imbibition interface use Seal Design, prevent waste splashes during operation.
- 8. reactor pressure vessel bolt hole cleaning detection robot according to claim 1, it is characterised in that：Robot Material of main part selects lightweight metal material, and surface carries out anti-corrosion treatment, all to use nonmetallic materials with flange contact part, In order to avoid damage vessel flange face.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710559023.XA CN107351093A (en) | 2017-07-11 | 2017-07-11 | A kind of reactor pressure vessel bolt hole cleaning detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710559023.XA CN107351093A (en) | 2017-07-11 | 2017-07-11 | A kind of reactor pressure vessel bolt hole cleaning detection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107351093A true CN107351093A (en) | 2017-11-17 |
Family
ID=60292454
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710559023.XA Pending CN107351093A (en) | 2017-07-11 | 2017-07-11 | A kind of reactor pressure vessel bolt hole cleaning detection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107351093A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110948355A (en) * | 2019-12-30 | 2020-04-03 | 中核武汉核电运行技术股份有限公司 | Polishing detection device for sealing surface of pressure container |
| CN111383785A (en) * | 2018-12-28 | 2020-07-07 | 核动力运行研究所 | Circular motion trolley for checking pressure container |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4962566A (en) * | 1988-03-25 | 1990-10-16 | Electricite De France (Service National) | Machine for cleaning tapped holes used for affixing the covers to armholes and eyeholes in steam generators |
| DE19509019C2 (en) * | 1995-03-13 | 1997-03-27 | Siemens Ag | Device for machining a threaded blind hole |
| KR100804318B1 (en) * | 2006-04-26 | 2008-02-15 | 한전케이피에스 주식회사 | System for cleaning, inspecting and managing a stud bolt hole |
| CN104190659A (en) * | 2014-09-13 | 2014-12-10 | 浙江博凡动力装备股份有限公司 | Main-screw-hole ultrasonic cleaner for reactor pressure vessel |
| CN104751915A (en) * | 2013-12-31 | 2015-07-01 | 中核武汉核电运行技术股份有限公司 | Automatic ultrasonic testing equipment for threaded hole zone of nuclear reactor pressure vessel |
-
2017
- 2017-07-11 CN CN201710559023.XA patent/CN107351093A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4962566A (en) * | 1988-03-25 | 1990-10-16 | Electricite De France (Service National) | Machine for cleaning tapped holes used for affixing the covers to armholes and eyeholes in steam generators |
| DE19509019C2 (en) * | 1995-03-13 | 1997-03-27 | Siemens Ag | Device for machining a threaded blind hole |
| KR100804318B1 (en) * | 2006-04-26 | 2008-02-15 | 한전케이피에스 주식회사 | System for cleaning, inspecting and managing a stud bolt hole |
| CN104751915A (en) * | 2013-12-31 | 2015-07-01 | 中核武汉核电运行技术股份有限公司 | Automatic ultrasonic testing equipment for threaded hole zone of nuclear reactor pressure vessel |
| CN104190659A (en) * | 2014-09-13 | 2014-12-10 | 浙江博凡动力装备股份有限公司 | Main-screw-hole ultrasonic cleaner for reactor pressure vessel |
Non-Patent Citations (2)
| Title |
|---|
| 关欣: "反应堆压力容器螺栓孔清洗机设计", 《中国新技术新产品》 * |
| 李江连: "反应堆压力容器螺栓孔螺纹润滑设备的设计", 《核动力工程》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111383785A (en) * | 2018-12-28 | 2020-07-07 | 核动力运行研究所 | Circular motion trolley for checking pressure container |
| CN110948355A (en) * | 2019-12-30 | 2020-04-03 | 中核武汉核电运行技术股份有限公司 | Polishing detection device for sealing surface of pressure container |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106005549B (en) | Mobile phone vacuum coating system with dust arrester | |
| CN107351093A (en) | A kind of reactor pressure vessel bolt hole cleaning detection robot | |
| CN205394932U (en) | Automatic laser cleaning equipment | |
| KR101652511B1 (en) | A pipe conduit cleaning unmanned moving truck safety | |
| CN114042695B (en) | Cleaning and lubricating equipment for fan blades of aircraft engine | |
| CN106090957A (en) | A kind of towed chimney cleaning plant and method for cleaning | |
| CN109278716A (en) | A kind of intelligent automobile washer device people | |
| CN104264573A (en) | Control system of cold-spray road marking vehicle with camera and road marking method | |
| CN213089426U (en) | Automatic oiling equipment for bearing | |
| CN108316407A (en) | A kind of nuclear power is inspected and cleaning device and method with feed-tank wall surface | |
| CN209520736U (en) | A kind of automatic polishing device suitable for top cover of reactor pressure vessel sealing structure | |
| CN116967669B (en) | Intelligent robot pipeline welding equipment and welding method | |
| CN209850324U (en) | Automatic assembly line for shower | |
| US20210210230A1 (en) | Repairing system as well as repairing method | |
| CN211047434U (en) | PCB solder mask detects repair all-in-one | |
| CN218674852U (en) | Magnetic powder inspection device for aircraft parts | |
| CN218268392U (en) | Underground pipe gallery vision inspection robot | |
| CN115465684A (en) | Automatic feeding system for radioactive powder materials | |
| CN115465686A (en) | Method for collecting radioactive powder materials | |
| CN216131662U (en) | Oil tank inner wall detection robot | |
| CN111389641A (en) | Spraying equipment for automobile chassis parts | |
| CN209520702U (en) | A kind of automatic polishing device suitable for reactor pressure vessel sealing structure | |
| CN114653901A (en) | Flow coating device and flow coating method for automatic production line of magnesium alloy cabin casting mold | |
| CN216620626U (en) | A dust conveyer in rotary kiln for zinciferous solid useless | |
| CN206550865U (en) | A kind of disc sander |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20171117 |
|
| WD01 | Invention patent application deemed withdrawn after publication |